Nonlinear and Linear PID Controllers-Based Hybrid Flight Control Strategy for a Quadcopter With Slung Load
This paper proposes a new hybrid flight control strategy for a quadcopter with a slung load to achieve a user-defined trajectory following. The high-fidelity coupled nonlinear model involving the quadcopter and slung load is obtained by integrating the nonlinear slung load model with the nonlinear q...
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| Format: | Article |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10927603/ |
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| author | Abhishek Manalathody Kishoor Santhana Krishnan Jisnu Adindtra Subramanian Sakthivel Thangavel Jinraj V. Pushpangathan Hariprasanth Paranjothy |
| author_facet | Abhishek Manalathody Kishoor Santhana Krishnan Jisnu Adindtra Subramanian Sakthivel Thangavel Jinraj V. Pushpangathan Hariprasanth Paranjothy |
| author_sort | Abhishek Manalathody |
| collection | DOAJ |
| description | This paper proposes a new hybrid flight control strategy for a quadcopter with a slung load to achieve a user-defined trajectory following. The high-fidelity coupled nonlinear model involving the quadcopter and slung load is obtained by integrating the nonlinear slung load model with the nonlinear quadcopter model. The quadcopter’s nonlinear model is derived using the Euler-Newton method, whereas the slung load model is obtained using the Lagrangian methodology. The hybrid flight control strategy for this quadcopter with a slung load to accomplish trajectory tracking is developed using a conventional three-loop flight control structure. This control structure uses both linear proportional-integral-derivative (LPID) and nonlinear PID (NLPID) controllers. Here, NLPID controllers are employed in the outer loop for accomplishing trajectory tracking, whereas LPID controllers are used in the inner and middle loops to maintain stability and attitude tracking, respectively. Furthermore, the proposed technique uses a dedicated linear proportional-derivative controller to track the relative slung load positions with respect to the center of the quadcopter, thus reducing the adverse effect of the slung load oscillations. The effectiveness of the new hybrid flight control strategy is verified through different 8 degree-of-freedom (DOF) nonlinear numerical simulations. |
| format | Article |
| id | doaj-art-3e26054e5cfa4f6992d5cea6954cc4b5 |
| institution | OA Journals |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-3e26054e5cfa4f6992d5cea6954cc4b52025-08-20T02:10:03ZengIEEEIEEE Access2169-35362025-01-0113485204854210.1109/ACCESS.2025.355162210927603Nonlinear and Linear PID Controllers-Based Hybrid Flight Control Strategy for a Quadcopter With Slung LoadAbhishek Manalathody0https://orcid.org/0009-0008-5055-3961Kishoor Santhana Krishnan1https://orcid.org/0009-0004-8098-6718Jisnu Adindtra Subramanian2https://orcid.org/0009-0005-5990-0710Sakthivel Thangavel3https://orcid.org/0009-0006-9393-7290Jinraj V. Pushpangathan4https://orcid.org/0000-0002-9404-4631Hariprasanth Paranjothy5https://orcid.org/0009-0008-5664-4493Department of Aerospace Engineering, Amrita School of Engineering, Coimbatore, Amrita Vishwa Vidyapeetham, IndiaDepartment of Aerospace Engineering, Amrita School of Engineering, Coimbatore, Amrita Vishwa Vidyapeetham, IndiaDepartment of Aerospace Engineering, Amrita School of Engineering, Coimbatore, Amrita Vishwa Vidyapeetham, IndiaDepartment of Aerospace Engineering, Amrita School of Engineering, Coimbatore, Amrita Vishwa Vidyapeetham, IndiaDepartment of Aerospace Engineering, Amrita School of Engineering, Coimbatore, Amrita Vishwa Vidyapeetham, IndiaDepartment of Aerospace Engineering, Amrita School of Engineering, Coimbatore, Amrita Vishwa Vidyapeetham, IndiaThis paper proposes a new hybrid flight control strategy for a quadcopter with a slung load to achieve a user-defined trajectory following. The high-fidelity coupled nonlinear model involving the quadcopter and slung load is obtained by integrating the nonlinear slung load model with the nonlinear quadcopter model. The quadcopter’s nonlinear model is derived using the Euler-Newton method, whereas the slung load model is obtained using the Lagrangian methodology. The hybrid flight control strategy for this quadcopter with a slung load to accomplish trajectory tracking is developed using a conventional three-loop flight control structure. This control structure uses both linear proportional-integral-derivative (LPID) and nonlinear PID (NLPID) controllers. Here, NLPID controllers are employed in the outer loop for accomplishing trajectory tracking, whereas LPID controllers are used in the inner and middle loops to maintain stability and attitude tracking, respectively. Furthermore, the proposed technique uses a dedicated linear proportional-derivative controller to track the relative slung load positions with respect to the center of the quadcopter, thus reducing the adverse effect of the slung load oscillations. The effectiveness of the new hybrid flight control strategy is verified through different 8 degree-of-freedom (DOF) nonlinear numerical simulations.https://ieeexplore.ieee.org/document/10927603/Nonlinear PID controllerquadcopterslung loadautonomous aerial vehicles (AAVs) |
| spellingShingle | Abhishek Manalathody Kishoor Santhana Krishnan Jisnu Adindtra Subramanian Sakthivel Thangavel Jinraj V. Pushpangathan Hariprasanth Paranjothy Nonlinear and Linear PID Controllers-Based Hybrid Flight Control Strategy for a Quadcopter With Slung Load IEEE Access Nonlinear PID controller quadcopter slung load autonomous aerial vehicles (AAVs) |
| title | Nonlinear and Linear PID Controllers-Based Hybrid Flight Control Strategy for a Quadcopter With Slung Load |
| title_full | Nonlinear and Linear PID Controllers-Based Hybrid Flight Control Strategy for a Quadcopter With Slung Load |
| title_fullStr | Nonlinear and Linear PID Controllers-Based Hybrid Flight Control Strategy for a Quadcopter With Slung Load |
| title_full_unstemmed | Nonlinear and Linear PID Controllers-Based Hybrid Flight Control Strategy for a Quadcopter With Slung Load |
| title_short | Nonlinear and Linear PID Controllers-Based Hybrid Flight Control Strategy for a Quadcopter With Slung Load |
| title_sort | nonlinear and linear pid controllers based hybrid flight control strategy for a quadcopter with slung load |
| topic | Nonlinear PID controller quadcopter slung load autonomous aerial vehicles (AAVs) |
| url | https://ieeexplore.ieee.org/document/10927603/ |
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